Information processing apparatus, information processing method, and storage medium

ABSTRACT

An information processing apparatus configured to generate an image to be displayed on a display device including an image capturing unit includes, an image acquisition unit configured to acquire a captured image obtained by the image capturing unit, an estimation unit configured to estimate a position and an orientation of the image capturing unit based on the captured image, a first generation unit configured to generate an image of a virtual object based on the estimated position and orientation of the image capturing unit, a moving velocity acquisition unit configured to acquire a moving velocity of the image capturing unit, a second generation unit configured to generate an image representing the moving velocity, and a display control unit configured to cause the display device to display a composite image obtained by combining the image of the virtual object and the image generated by the second generation unit.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to an information processing apparatus, aninformation processing method, and a storage medium.

Description of the Related Art

A technique relating to Mixed Reality (hereinafter, referred to as “MR”)for mixing a virtual space with a real space has conventionally beenknown. In an MR system, computer graphics (hereinafter, referred to as“CG”), representing a virtual object, are displayed on an image of thereal space captured by an image capturing unit, so that a user canexperience the virtual object as if it is actually present there. Todisplay a virtual object at an expected position and in an expectedorientation, geometric consistency is necessary between the virtualobject and the real space.

A known video see-through head mounted display (HMD) is a systememploying MR. In an MR technique using the video see-through HMD, everytime an image of the real space is acquired from a camera as an imagecapturing device incorporated in the HMD, a position and an orientationof the camera, in the real space at the time of image capturing, aremeasured. Then, CG, rendered based on the position and the orientationof the camera and a unique parameter of the camera including a focallength and the like, is overlapped on the image of the real space.

When the video see-through HMD is used, image information can be usedfor positioning. The image information includes an index, such as amarker and an edge, captured by the camera incorporated in the HMD. Afeature of the index, when using the image information from the camerafor the positioning as described above, is difficult to accuratelydetect, when an image is unclear. The image may becomes unclear when theuser, who is wearing the HMD and experiencing MR, moves too fast orshakes the user's head too fast, resulting in a high moving velocity ofthe camera in the HMD.

Japanese Patent Application Laid-Open No. 2003-70006 discusses atechnique relating to the moving velocity of the camera. Morespecifically, a white balance of the captured image is adjusted throughgain adjustment, based on a white balance adjustment coefficient storedin a memory, in accordance with a shifted amount of the orientation ofthe camera.

However, when the positioning method using the image information isemployed, an index in the captured image might be blurred or out offocus when the user wearing the HMD moves too fast or shakes the user'shead too fast. An appropriate image might not be obtained even byperforming the image adjustment described above, if the moving velocityof the user is too high. When the appropriate image cannot be obtainedas described above, the positioning using the index cannot beappropriately performed.

Accordingly, there is a need for a technique capable of preventing anaccuracy degradation of positioning processing by making a user aware ofa moving velocity of an image capturing unit

SUMMARY OF THE INVENTION

According to an aspect of the present invention, an informationprocessing apparatus configured to generate an image to be displayed ona display device including an image capturing unit, includes an imageacquisition unit configured to acquire a captured image obtained by theimage capturing unit, an estimation unit configured to estimate aposition and an orientation of the image capturing unit based on thecaptured image, a first generation unit configured to generate an imageof a virtual object based on the estimated position and orientation ofthe image capturing unit, a moving velocity acquisition unit configuredto acquire a moving velocity of the image capturing unit, a secondgeneration unit configured to generate an image representing the movingvelocity; and a display control unit configured to cause the displaydevice to display a composite image obtained by combining the image ofthe virtual object generated by the first generation unit and the imagegenerated by the second generation unit.

According to the present disclosure, the accuracy degradation ofpositioning processing can be prevented by making a user aware of amoving velocity of an image capturing unit.

Further features of the present invention will become apparent from thefollowing description of exemplary embodiments with reference to theattached drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram illustrating a display system.

FIG. 2 is a schematic diagram illustrating a head mounted display (HMD)and a space seen by a user wearing the HMD.

FIG. 3 is a block diagram illustrating a functional configuration of aninformation processing apparatus.

FIG. 4 is a flowchart illustrating threshold determination processing.

FIG. 5 is a diagram illustrating an example of a threshold table.

FIG. 6 is a flowchart illustrating state information generationprocessing.

FIGS. 7A and B are diagrams each illustrating an example of a compositeimage.

DESCRIPTION OF THE EMBODIMENTS

Exemplary embodiments of the present invention will be described belowwith reference to the drawings.

FIG. 1 is a block diagram illustrating a display system 10 according tothe present exemplary embodiment. The display system 10 includes aninformation processing apparatus 100 and a head mounted display (HMD)110. The information processing apparatus 100 and the HMD 110 areconnected to each other through wireless communications. The HMD 110 isa video see-through HMD. The information processing apparatus 100includes a central processing unit (CPU) 101, a random access memory(RAM) 102, a read only memory (ROM) 103, a non-volatile memory (NVMEM)104, an interface 105, and a system bus 106. The CPU 101 executes aprogram stored in the ROM 103 by using the RAM 102 as a work memory, andperforms overall control on components described below via the systembus 106. With this configuration, various types of processing describedbelow are implemented.

The NVMEM 104 is a rewritable nonvolatile memory and serves as asecondary memory storage device. The CPU 101 writes and reads data toand from the NVMEM 104. The secondary storage device may be a flashmemory, a hard disk drive (HDD), or may be a storage device such as anoptical disk drive. The interface 105 transmits and receives data to andfrom external devices such as an image capturing unit 111, a displayunit 112, and a velocity measurement unit 113 described below. Functionsand processing of the information processing apparatus 100 that aredescribed below are implemented by the CPU 101 reading and executing aprogram stored in the ROM 103 or the NVMEM 104.

The HMD 110 includes two image capturing units 111 a and 111 b, adisplay unit 112, and a velocity measurement unit 113. In thedescription below, the two image capturing units 111 a and 111 b arereferred to as the image capturing unit 111 as appropriate in somecases. The image capturing unit 111 is a camera for capturing an imageof an index. The display unit 112 is configured of a cathode ray tube(CRT), a liquid crystal display, or the like, and can display varioustypes of information in forms of image, characters, and/or the like. Thevelocity measurement unit 113 is a sensor that measures a movingvelocity of the image capturing unit 111, and can input velocityinformation to the CPU 101. For example, the velocity measurement unit113 according to the present exemplary embodiment uses, for example, agyro sensor to measure angular velocity as the moving velocity. In thepresent exemplary embodiment, the image capturing unit 111, the displayunit 112, and the velocity measurement unit 113 are incorporated in theHMD 110. Alternatively, the image capturing unit 111, the display unit112, and the velocity measurement unit 113 are not necessarilyincorporated in the HMD 110 and may be externally provided.

FIG. 2 is a schematic diagram illustrating the HMD 110 and a spaceviewed by a user wearing the HMD 110. The HMD 110 is worn by a user A.The HMD 110 incorporates the image capturing units 111 a and 111 brespectively corresponding to left and right eyes. The image capturingunits 111 a and 111 b each capture a moving image of a real spaceincluding a monitoring target object 200 in the real space. Frames ofimages captured by the image capturing units 111 a and 111 b aresequentially input to the information processing apparatus 100. Theinformation processing apparatus 100 calculates a position and anorientation of the image capturing unit 111 based on the image inputfrom the image capturing units 111 a and 111 b, and three-dimensionalmodel data of the monitoring target object 200 stored in a model datastorage unit 303 described below.

Based on the calculated position and the orientation of the imagecapturing unit 111, the information processing apparatus 100 renders animage of a virtual object 210 on an image of a frame used for acalculation in an overlapping manner, whereby a composite image isgenerated. The information processing apparatus 100 outputs thegenerated composite image to the display unit 112 of the HMD 110. Inthis way, the composite image, in which the virtual object 210 isoverlapped on the monitoring target object 200, is displayed on thedisplay unit 112. The display unit 112 of the HMD 110 is attached to theHMD 110 in such a manner as to be positioned before the eyes of the userA wearing the HMD 110. Therefore, the composite image is displayed infront of the eyes of the user A. The angular velocity measured by thevelocity measurement unit 113 is a result of a head shaking action andthe like of the user A.

FIG. 3 is a block diagram illustrating a functional configuration of theinformation processing apparatus 100. An image acquisition unit 301receives images (real space images) of frames sequentially output fromthe image capturing unit 111, and transfers the images to a featuredetection unit 302 on the subsequent stage. For example, when theinformation processing apparatus 100 uses a file of a moving image ofthe real space stored in advance in the NVMEM 104 and the like, theimage acquisition unit 301 executes processing of reading the file andof transferring the file to the feature detection unit 302 on thesubsequent stage. Upon receiving the image from the image acquisitionunit 301, the feature detection unit 302 detects an image feature usedfor calculating the position and the orientation of the image capturingunit 111, from the image. More specifically, the feature detection unit302 detects a predetermined index including a marker artificiallydisposed in the real space for identifying the position of the HMD 110and a natural feature, such as a corner point and an edge, originallyexisting in the real space.

The model data storage unit 303 stores therein three-dimensional modeldata of the monitoring target object 200 used as a reference forcalculating the position and the orientation of the image capturing unit111. For example, the model data storage unit 303 is a region in the RAM102. A position/orientation calculation unit 304 calculates the positionand the orientation of the image capturing unit 111 on a coordinatesystem with the monitoring target object 200 serving as a reference(hereinafter, referred to as a reference coordinate system). Thecalculation is based on the image feature detected by the featuredetection unit 302 and the model data stored in the model data storageunit 303.

A parameter acquisition unit 305 acquires an image capturing parameterfrom the image capturing unit 111 (parameter acquisition processing).The image capturing parameter is a parameter employed for capturing theimages corresponding to the frames of images captured by andsequentially output from the image capturing unit 111. Specific examplesof the image capturing parameter include values of shutter speed, gain,and the like. In the present exemplary embodiment, the value of theshutter speed is acquired. The parameter acquisition unit 305 writes theacquired image capturing parameter in a region (not illustrated) in theRAM 102. Each time the image capturing parameter is newly acquired, theparameter acquisition unit 305 transmits an update notification of theimage capturing parameter to a threshold determination unit 306. When afunction such as auto exposure (AE) is operating in the image capturingunit 111, the image capturing parameter such as the shutter speed variesin accordance with the image capturing condition. In this case, theparameter acquisition unit 305 acquires the image capturing parametereach time the image frame is output from the image capturing unit 111.

Upon receiving the update notification from the parameter acquisitionunit 305, the threshold determination unit 306 refers to the imagecapturing parameter acquired by the parameter acquisition unit 305. Thethreshold determination unit 306 determines a threshold of the movingvelocity of the image capturing unit 111 based on the image capturingparameter. The threshold is an upper limit value of the moving velocity.The position and the orientation of the image capturing unit 111 can beaccurately estimated as long as the moving velocity is at or below thethreshold. The threshold determination unit 306 writes the determinedthreshold in a region in the RAM 102. The processing executed by thethreshold determination unit 306 is described in detail with referenceto FIG. 4.

A velocity acquisition unit 307 acquires the moving velocity measured bythe velocity measurement unit 113 (i.e., moving velocity acquisitionprocessing). The velocity measurement unit 113 is disposed adjacent tothe image capturing unit 111 in the HMD 110 to be capable of measuring avelocity that is approximately the same as that of the image capturingunit 111. The velocity acquisition unit 307 reads a measurement value ofthe moving velocity from the velocity measurement unit 113, and writesthe value in a region (not illustrated) in the RAM 102. The velocityacquisition unit 307 periodically acquires the measurement value insynchronization with a measurement update timing of the velocitymeasurement unit 113. When the measurement value of the moving velocityis updated, the velocity acquisition unit 307 transmits an updatenotification to a state presentation unit 308.

The state presentation unit 308 reads the threshold determined by thethreshold determination unit 306, and the measurement value of themoving velocity acquired by the velocity acquisition unit 307, from theRAM 102, and generates state information based on these pieces ofinformation. The state information is information for notifying the userof a state relating to the movement of the image capturing unit 111.Processing executed by the state presentation unit 308 is describedbelow with reference to FIG. 6. An image generation unit 309 generates acomposite image in which a virtual object is overlapped on the imageframe acquired by the image acquisition unit 301. The image generationunit 309 generates a composite image in which the state informationgenerated by the state presentation unit 308 is further overlapped onthe composite image. The image generation unit 309 performs control soas to output the generated composite image to the display unit 112.

FIG. 4 is a flowchart illustrating the threshold determinationprocessing executed by the threshold determination unit 306. In stepS401, the threshold determination unit 306 waits until the updatenotification of the image capturing parameter is received from theparameter acquisition unit 305. When the threshold determination unit306 receives the update notification (Yes in step S401), the processingproceeds to step S402. In step S402, the threshold determination unit306 identifies the shutter speed from the image capturing parameterstored in the RAM 102.

Then, in step S403, the threshold determination unit 306 refers to thethreshold table, and determines the threshold based on the shutter speed(threshold determination processing). FIG. 5 is a diagram illustratingan example of a threshold table 500. In the threshold table 500, theshutter speed and the threshold of the moving velocity (angularvelocity) are stored while being associated with each other. There is alower chance of video blurring with higher shutter speed. Accordingly, ahigher threshold is associated with higher shutter speed in thethreshold table 500. For example, the threshold table 500 is stored inadvance in the NVMEM 104. The threshold table 500 is an example ofassociation information associating the shutter speed and the thresholdwith each other.

For example, when the shutter speed is 1/120 (sec), the thresholddetermination unit 306 refers to the threshold table 500 and determines46 (degrees/sec) corresponding to the threshold of the shutter speed. Inthe present exemplary embodiment, the angular velocity is described asan example of the moving velocity. Alternatively, the moving velocitymay be velocity corresponding to other kinds of movement such as movingspeed.

Referring back to FIG. 4, after the processing in step S403, in stepS404, the threshold determination unit 306 writes the determinedthreshold in the region in the RAM 102. Then, the processing returns tostep S401, and the threshold determination unit 306 repeats theprocessing in and after step S401.

FIG. 6 is a flowchart illustrating the state information generationprocessing executed by the state presentation unit 308. In step S601,the state presentation unit 308 waits until the update notification ofthe measurement value of the moving velocity is received from thevelocity acquisition unit 307. When the state presentation unit 308receives the update notification (Yes in step S601), the processingproceeds to step S602. In step S602, the state presentation unit 308refers to the measurement value and the threshold written in the RAM102. Then, in step S603, the state presentation unit 308 renders themeasurement value of the moving velocity on a rendering area in the RAM102. Then, in step S604, the state presentation unit 308 similarlyrenders the threshold on the rendering area in the RAM 102.

Then, in step S605, the state presentation unit 308 compares themeasurement value of the moving velocity with the threshold. When thestate presentation unit 308 determines that the measurement value islarger than the threshold (Yes in step S605), the processing proceeds tostep S606. On the other hand, when the state presentation unit 308determines that the measurement value is not larger than the threshold(No in step S605), the processing proceeds to step S607. In step S606,the state presentation unit 308 additionally renders a warning messageon the rendering area of the RAM 102 on which the measurement value ofthe moving velocity and the threshold have been rendered in steps S603and S604. Thus, generation of rendering data as the state informationfor notifying the user of the state is completed. The processing in stepS603, S604, and S606 is an example of generation processing ofgenerating the state information. Next, in step S607, the statepresentation unit 308 notifies the image generation unit 309 thatpreparation for rendering is completed. Then, the processing returns tostep S601.

The rendering data rendered by the state presentation unit 308 asdescribed above is transmitted to the image generation unit 309. Theimage generation unit 309 renders the rendering data on the image of theimage frame acquired by the image acquisition unit 301 in an overlappingmanner, whereby the composite image is generated. Then, the imagegeneration unit 309 performs control so as to output the composite imageto the display unit 112 (output control processing).

FIGS. 7A and 7B are diagrams each illustrating an example of thecomposite image displayed on the display unit 112. A composite image 700illustrated in FIG. 7A is an image generated when the measurement valueis not larger than the threshold. A composite image 710 illustrated inFIG. 7B is an image generated when the measurement value is larger thanthe threshold. The composite image 700 includes a captured image (video)701 of the monitoring target object 200 existing in the real space andan image 702 of the virtual object 210. The composite image 700 furtherincludes a measurement value 703 rendered in step S603 and a threshold704 rendered in step S604. As described above, in the present exemplaryembodiment, the moving velocity is an angular velocity, and thus themeasured angular velocity is displayed as the measurement value 703. Thedisplayed threshold 704 is an upper limit of the angular velocity. Theposition and the orientation of the HMD 110 can be accurately estimatedby the information processing apparatus 100, as long as the angularvelocity is at or below the threshold 704.

As described above, in the display system 10 according to the presentexemplary embodiment, when the measurement value of the moving velocitydoes not exceed the threshold, the measurement value 703 and thethreshold 704 are displayed on the display unit 112 of the HMD 110.Thus, the user A wearing the HMD 110 can recognize the moving velocityand the threshold displayed on the display unit 112, and can be carefulso that the user's moving velocity does not exceed the threshold.

As illustrated in FIG. 7B, the composite image 710 includes a capturedimage (video) 711 of the monitoring target object 200 and the image 702of the virtual object 210. In the composite image 710, the capturedimage 711 of the monitoring target object 200 is blurred because themoving velocity of the user A is too high to appropriately capture animage of the monitoring target object 200. Because the captured image711 of the monitoring target object 200 is not appropriately captured,the positional relationship between the virtual object 210 and themonitoring target object 200 is different from the appropriatepositional relationship illustrated in FIG. 2. The composite image 710further includes the measurement value 713 rendered in step S603, thethreshold 714 rendered in step S604, and the warning message 715rendered in step S606. The warning message 715 is information notifyingthe user that the moving velocity exceeds the threshold, and thus cansuggest the user to move a little slower.

As described above, in the display system 10 according to the presentexemplary embodiment, not only the measurement value 713 and thethreshold 714 but also the warning message 715 is displayed on thedisplay unit 112, when the measurement value of the moving velocityexceeds the threshold. With this operation, the user A can recognizethat the moving velocity and the threshold displayed on the display unit112, d can be careful to move a little slower.

As described above, the display system 10 according to the presentexemplary embodiment can prevent an accuracy degradation of positioningprocessing by making a user aware of the moving velocity of an imagecapturing unit.

In a first modification of the display system 10 according to thepresent exemplary embodiment, the state information is not limited tothat in the exemplary embodiment. Another example of the stateinformation includes voice information. In such a case, the HMD 110receives the voice information as the state information, and outputs thevoice information though a speaker (not illustrated). More specifically,in this case, the HMD 110 outputs the measurement value of the movingvelocity and the threshold through voice. When the moving velocityexceeds the threshold, the HMD 110 outputs the warning message throughvoice. The timing of outputting the measurement value of the movingvelocity and the threshold is not particularly limited.

Still another example of the state information may include informationinstructing vibration generation. In such a case, the informationprocessing apparatus 100 generates the state information instructing thevibration generation when the moving velocity exceeds the threshold, andtransmits the state information to the HMD 110. Upon receiving the stateinformation, the HMD 110 drives a vibration unit (not illustrated), sothat a main body of the HMD 110 will vibrate. With this operation, theuser can recognize whether the moving velocity is appropriate based onwhether the main body is vibrating.

In a second modification, the HMD 110 may be integrally formed with theinformation processing apparatus 100. The processing of generating stateinformation and the like, executed by the information processingapparatus 100 in the above-described exemplary embodiment, may beexecuted by the HMD 110. In such a case, a CPU of the HMD 110 performscontrol of displaying a composite image, in which the measurement value,the threshold, and the warning message are overlapped as appropriate, onthe display unit 112 (display control processing).

Other Embodiments

Embodiment(s) of the present invention can also be realized by acomputer of a system or apparatus that reads out and executes computerexecutable instructions (e.g., one or more programs) recorded on astorage medium (which may also be referred to more fully as a‘non-transitory computer-readable storage medium’) to perform thefunctions of one or more of the above-described embodiment(s) and/orthat includes one or more circuits (e.g., application specificintegrated circuit (ASIC)) for performing the functions of one or moreof the above-described embodiment(s), and by a method performed by thecomputer of the system or apparatus by, for example, reading out andexecuting the computer executable instructions from the storage mediumto perform the functions of one or more of the above-describedembodiment(s) and/or controlling the one or more circuits to perform thefunctions of one or more of the above-described embodiment(s). Thecomputer may comprise one or more processors (e.g., central processingunit (CPU), micro processing unit (MPU)) and may include a network ofseparate computers or separate processors to read out and execute thecomputer executable instructions. The computer executable instructionsmay be provided to the computer, for example, from a network or thestorage medium. The storage medium may include, for example, one or moreof a hard disk, a random-access memory (RAM), a read only memory (ROM),a storage of distributed computing systems, an optical disk (such as acompact disc (CD), digital versatile disc (DVD), or Blu-ray Disc (BD)™),a flash memory device, a memory card, and the like.

While the present invention has been described with reference toexemplary embodiments, it is to be understood that the invention is notlimited to the disclosed exemplary embodiments. The scope of thefollowing claims is to be accorded the broadest interpretation so as toencompass all such modifications and equivalent structures andfunctions.

This application claims the benefit of Japanese Patent Application No.2015-206453, filed Oct. 20, 2015, which is hereby incorporated byreference herein in its entirety.

What is claimed is:
 1. An information processing apparatus configured togenerate an image to be displayed on a display device including an imagecapturing unit, the information processing apparatus comprising: animage acquisition unit configured to acquire a captured image obtainedby the image capturing unit; an estimation unit configured to estimate aposition and an orientation of the image capturing unit based on thecaptured image; a first generation unit configured to generate an imageof a virtual object based on the estimated position and orientation ofthe image capturing unit; a moving velocity acquisition unit configuredto acquire a current moving velocity of the image capturing unit and alimit of the moving velocity; a second generation unit configured togenerate an image representing the current moving velocity incontradistinction to the limit of the moving velocity; and a displaycontrol unit configured to cause the display device to display acomposite image obtained by combining the image of the virtual objectand the image representing the current moving velocity incontradistinction to the limit of the moving velocity.
 2. Theinformation processing apparatus according to claim 1, furthercomprising a determination unit configured to determine the threshold,based on an image capturing parameter of the image capturing unit. 3.The information processing apparatus according to claim 2, wherein theimage capturing parameter is a shutter speed of the image capturingunit.
 4. The information processing apparatus according to claim 2,wherein the determination unit is configured to determine the thresholdbased on association information in which a measurement value of theimage capturing parameter and the threshold are associated.
 5. Theinformation processing apparatus according to claim 4, furthercomprising a presentation unit configured to generate warninginformation when the measurement value exceeds the threshold, andpresent the warning information to a user monitoring the display device.6. The information processing apparatus according to claim 5, whereinthe presentation unit further combines an image representing the warninginformation with the composite image.
 7. The information processingapparatus according to claim 4, wherein the presentation unit isconfigured to present the warning information to the user through voice.8. The information processing apparatus according to claim 1, whereinthe composite image is an image obtained by combining the capturedimage, the image of the virtual object generated by the first generationunit, and the image generated by the second generation unit.
 9. Theinformation processing apparatus according to claim 1, wherein thedisplay device is an optical see-through or video see-through displaydevice.
 10. The information processing apparatus according to claim 1,wherein the moving velocity acquisition unit is a gyro sensor.
 11. Theinformation processing apparatus according to claim 1, wherein thedisplay device is mounted to a part of a human body.
 12. A systemcomprising: a display device; and an information processing apparatusconnected to the display device, wherein the display device includes: animage capturing unit configured to capture an image of a real space; afirst transmission unit configured to transmit the image captured by theimage capturing unit to the information processing apparatus; and adisplay unit configured to receive the image transmitted from theinformation processing apparatus and display the image, and wherein theinformation processing apparatus includes: an image acquisition unitconfigured to acquire the captured image from the display device; anestimation unit configured to estimate a position and an orientation ofthe image capturing unit based on the captured image; a first generationunit configured to generate an image of a virtual object based on theestimated position and orientation of the image capturing unit; a movingvelocity acquisition unit configured to acquire a current movingvelocity of the image capturing unit and a limit of the moving velocity;a second generation unit configured to generate an image representingthe current moving velocity in contradistinction to the limit of themoving velocity; and a second transmission unit configured to transmit,to the display device, a composite image obtained by combining the imageof the virtual object and the image representing the current movingvelocity in contradistinction to the limit of the moving velocity; amoving velocity acquisition unit configured to acquire a current movingvelocity of the image capturing unit and a limit of the moving velocity;a second generation unit configured to generate an image representingthe current moving velocity in contradistinction to the limit of themoving velocity; and a display control unit configured to cause thedisplay device to display a composite image obtained by combining theimage of the virtual object and the image representing the currentmoving velocity in contradistinction to the limit of the movingvelocity.
 13. An information processing method for generating an imageto be displayed on a display device including an image capturing unit,the information processing method comprising: acquiring a captured imageobtained by the image capturing unit; estimating a position and anorientation of the image capturing unit based on the captured image;generating an image of a virtual object based on the estimated positionand orientation of the image capturing unit; acquiring a current movingvelocity of the image capturing unit and a limit of the moving velocity;generating an image representing the current moving velocity incontradistinction to the limit of the moving velocity; and causing thedisplay device to display a composite image obtained by combining theimage of the virtual object and the image representing the currentmoving velocity in contradistinction to the limit of the movingvelocity.
 14. A storage medium storing a program for causing a computerto perform an information processing method for generating an image tobe displayed on a display device including an image capturing unit, theinformation processing method comprising: acquiring a captured imageobtained by the image capturing unit; estimating a position and anorientation of the image capturing unit based on the captured image;generating an image of a virtual object based on the estimated positionand orientation of the image capturing unit; acquiring a current movingvelocity of the image capturing unit and a limit of the moving velocity;generating an image representing the current moving velocity incontradistinction to the limit of the moving velocity; and causing thedisplay device to display a composite image obtained by combining theimage of the virtual object and the image representing the currentmoving velocity in contradistinction to the limit of the movingvelocity.